A soil sampling method for land surveying and mapping

Abstract

The present invention relates to the technical field of soil sampling, and in particular to a soil sampling method for land surveying and mapping. The soil sampling method is applied to a sampling device, which includes a sampling device body, and the sampling device body includes a mobile mechanism connected to a sampling mechanism, a driving mechanism for driving the mobile mechanism to move, and a controller for controlling the driving mechanism. The sampling mechanism is provided with a depth sensor for collecting the depth of the sampling device penetrating into the soil and a pressure sensor for collecting the resistance generated by the soil to the sampling device. The soil sampling method obtains the depth value and resistance value at each sampling moment in the process of the current sampling device penetrating into the soil, analyzes the depth value and the resistance value, determines a response adjustment coefficient, and corrects the control parameters of the controller controlling the driving mechanism. The present invention is conducive to improving the accuracy of soil sampling and the service life of the device by ensuring the stable working state of the sampling device.

Description

Technical Field

[0001] The invention relates to the technical field of soil sampling, and in particular to a soil sampling method for land surveying and mapping. Background Art

[0002] The main purpose of soil sampling for land surveying and mapping is to obtain soil samples from beneath the surface and use them to analyze the physical and chemical properties of the soil, such as soil structure, particle size, water content, nutrient content, pH, etc., in order to assess the quality, fertility, pollution status, etc. of the soil. This process involves the collection, processing and analysis of soil samples, aiming to provide the necessary soil data for land surveying and mapping.

[0003] Traditional soil sampling devices for land surveying and mapping usually use manual tools to sample soil. The working principle is to drive the drill bit deep into the soil by rotating or knocking, and then extract the soil sample to the surface through the sampling tube. This traditional sampling device often lacks automation functions and requires repeated manual operation. Secondly, during the soil sampling process, the final sampling result may be easily affected by other soils due to insufficient depth of penetration into the ground or some unstable factors during the penetration process, which will lead to large errors in the results of soil testing, which is not conducive to providing accurate data support for land surveying and mapping.

[0004] With the development of technology, there are many sampling devices that can realize automatic soil sampling. Such sampling devices usually include a mobile mechanism connected to a sampling mechanism and a driving mechanism for driving the mobile mechanism to move. The driving mechanism can drive the mobile mechanism to rotate and automatically penetrate the ground under the control of its controller to realize automatic soil sampling. In the process of soil sampling, it is usually required that the driving mechanism has a stable working state, so as to maintain the stability of the sampling device and avoid the destruction of the soil structure caused by penetrating too fast or too slow into the soil, so as to ensure that the sampled soil samples maintain a complete soil layer distribution, thereby ensuring that the extracted soil samples can truly reflect the actual situation of the soil, and at the same time help to reduce the wear of the sampling device and extend its service life. However, in some special environments, such as high-cold areas, wetlands or saline-alkali lands, the adaptability of the sampling device is poor, resulting in the untimely response of the driving device. At this time, the stable working state of the driving device cannot be guaranteed, and the sampling device is prone to jamming, which is not conducive to ensuring the accuracy of soil sampling. At the same time, it will increase the damage to the sampling device and affect its service life. Summary of the invention

[0005] The purpose of the present invention is to provide a soil sampling method for land surveying, which is used to solve the problem that the existing sampling device cannot ensure its stable working state, which is not conducive to ensuring the accuracy of soil sampling, and at the same time increases damage to the sampling device and affects its service life.

[0006] In order to solve the above technical problems, in a first aspect, the present invention provides a soil sampling method for land surveying and mapping, the soil sampling method is applied to a sampling device, the sampling device includes a sampling device body, the sampling device body includes a moving mechanism connected to a sampling mechanism, a driving mechanism for driving the moving mechanism to move, and a controller for controlling the driving mechanism, the sampling mechanism is provided with a depth sensor for collecting the depth of the sampling device penetrating into the soil, and a pressure sensor for collecting the resistance generated by the soil to the sampling device, the soil sampling method includes:

[0007] Obtain the depth value and resistance value of the current sampling device at each sampling moment during its penetration into the soil;

[0008] Determine the sampling interference degree value according to the distribution of depth value changes between depth values ​​at adjacent sampling moments;

[0009] According to the difference between the soil resistance values ​​at different sampling times, the soil resistance coefficient is determined;

[0010] Determining a response adjustment coefficient according to the sampling interference degree value and the soil resistance coefficient;

[0011] According to the response adjustment coefficient, the control parameters of the controller for controlling the driving mechanism are corrected.

[0012] In combination with the first aspect, in some possible implementations, determining the sampling interference degree value includes:

[0013] Determine the difference between the depth value at each sampling moment and the depth value at the previous sampling moment, and determine the difference as the depth value change;

[0014] Determining a discrete degree index and a depth value change difference index according to the discrete degrees and the maximum distribution difference of all the depth value changes;

[0015] The sampling interference degree value is determined according to the discrete degree index and the depth value change difference index, and the discrete degree index and the depth value change difference index are both positively correlated with the sampling interference degree value.

[0016] In conjunction with the first aspect, in some possible implementations, determining the dispersion index includes:

[0017] The variance of all the depth value changes is determined, and the variance is determined as a dispersion index.

[0018] In combination with the first aspect, in some possible implementations, determining the depth value change difference index includes:

[0019] The range of all the depth value changes is determined, and the range is determined as a depth value change difference index.

[0020] In combination with the first aspect, in some possible implementations, determining the sampling interference degree value includes:

[0021] The product of the discrete degree index and the depth value variation difference index is determined, and a normalized value of the product is determined as a sampling interference degree value.

[0022] In combination with the first aspect above, in some possible implementations, determining the soil resistance coefficient includes:

[0023] Determine the absolute value of the difference between the soil resistance values ​​at any two different sampling moments, determine the average value of all the absolute values ​​of the difference, and obtain the average soil resistance value difference;

[0024] The average soil resistance value difference is normalized to obtain the soil resistance coefficient.

[0025] In conjunction with the first aspect, in some possible implementations, determining the response adjustment coefficient includes:

[0026] Performing negative correlation normalization processing on the soil resistance coefficient to obtain a negative correlation normalization processing result;

[0027] The product of the negative correlation normalization processing result and the sampling interference degree value is determined as the response adjustment coefficient.

[0028] In combination with the first aspect above, in some possible implementations, the controller controls the driving mechanism through a PID control method, and corrects the control parameters of the driving mechanism controlled by the controller, including:

[0029] Calculate the sum of the response adjustment coefficient and the value 1;

[0030] A multiplication result of the added value and a proportional gain in the PID control method is calculated, and the multiplication result is determined as a corrected proportional gain in the PID control method.

[0031] In order to solve the above technical problems, in a second aspect, the present invention also provides a soil sampling device for land surveying and mapping, the sampling device comprising a sampling device body, the sampling device body comprising a moving mechanism connected to a sampling mechanism, a driving mechanism for driving the moving mechanism to move, and a controller for controlling the driving mechanism, the sampling mechanism is provided with a depth sensor for collecting the depth of the sampling device penetrating into the soil, and a pressure sensor for collecting the resistance generated by the soil to the sampling device, the controller samples the depth sensor and the pressure sensor to obtain a depth value and a resistance value, and analyzes the depth value and the resistance value to implement a soil sampling method for land surveying and mapping in any possible implementation method of any of the first aspects above.

[0032] To solve the above technical problems, in a third aspect, the present invention further provides a soil sampling system for land surveying and mapping, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the device executes the steps of a soil sampling method for land surveying and mapping in any possible implementation of the first aspect.

[0033] To solve the above technical problems, in a fourth aspect, the present invention further provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the steps of a soil sampling method for land surveying in any possible implementation of the first aspect.

[0034] To solve the above technical problems, in a fifth aspect, the present invention further provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes the steps of a soil sampling method for land surveying in any possible implementation of the first aspect.

[0035] The present invention has the following beneficial effects: by arranging a depth sensor for collecting the depth of the sampling device penetrating into the soil and a pressure sensor for collecting the resistance generated by the soil on the sampling device on the sampling mechanism, the depth value and the resistance value at each sampling moment of the current sampling device penetrating into the soil are obtained, and the depth value and the resistance value are analyzed to determine the sampling interference degree value and the soil resistance coefficient. The sampling interference degree value reflects the resistance interference degree of the moving mechanism in the sampling device in the process of penetrating into the soil, and the soil resistance coefficient reflects the resistance of the soil to the moving mechanism as the depth of penetration into the soil changes. Finally, the response adjustment coefficient is determined in combination with the sampling interference degree value and the soil resistance coefficient to distinguish whether the resistance interference degree of the moving mechanism in the sampling device penetrating into the soil is caused by the soil resistance or by the untimely response of the driving mechanism itself, and the response adjustment coefficient is used to correct the control parameters of the driving mechanism to avoid the situation where the moving mechanism is subjected to a large resistance interference degree due to the untimely response of the driving mechanism, so as to ensure the stable output of the driving mechanism, thereby improving the accuracy of soil sampling and ensuring the service life of the sampling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the overall composition framework of a soil sampling device for land surveying and mapping according to an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the overall structure of a soil sampling device for land surveying and mapping according to an embodiment of the present invention;

[0039] Figure 3 It is a partially enlarged structural diagram of the soil material taking bin according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the internal structure of the soil material taking bin when the bin door is closed according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the internal structure of the soil material taking bin when the bin door is open according to an embodiment of the present invention;

[0042] Figure 6 A flow chart of the steps of a soil sampling method for land surveying and mapping according to an embodiment of the present invention;

[0043] Figure 7 A schematic diagram of the structure of a soil sampling system for land surveying and mapping according to an embodiment of the present invention;

[0044] In the attached drawings: 1 is a driving mechanism; 2 is a movable screw rod; 3 is a sampling mechanism support stand; 4 is a base driving device; 5 is a through hole on the base support plate for the sampling tube 7 to pass through; 6 is a soil sampling bin; 7 is a sampling tube; 8 is a base rotating screw; 9 is a vent; 10 is a connecting piece; 11 is a tunneling mechanism; 12 is a controller; 13 is a soil sampling bin in the soil sampling bin; 14 is a soil breaking blade; 15 is an electric push rod; 16 is a bin door of the soil sampling bin; 17 is a crank; 18 is a pressure sensor; 19 is a base support plate; 20 is a depth sensor; 701 is a memory; 702 is a processor; 703 is a computer program. DETAILED DESCRIPTION

[0045] In order to clearly illustrate the technical features of the present invention, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0046] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0047] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0048] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0049] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0050] Although operations or steps are described in a specific order in the drawings in the embodiments of the present invention, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or that all the operations or steps shown must be performed to obtain the desired results. In the embodiments of the present invention, these operations or steps may be performed in series; these operations or steps may also be performed in parallel; or some of these operations or steps may be performed.

[0051] At the same time, it is understood that the data involved in the technical solution of the present invention (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of the relevant laws, regulations and relevant provisions. Unless otherwise defined, all technical and scientific terms used in the present invention have the same meanings as those generally understood by technicians in the technical field of the present invention, and all parameters or indicators in the formulas involved in the present invention are normalized values ​​that eliminate the influence of dimensions.

[0052] In order to solve the problem that the existing sampling device cannot ensure its stable working state, which is not conducive to ensuring the accuracy of soil sampling, and at the same time increases damage to the sampling device and affects its service life, the embodiment of the present invention provides a soil sampling device for land surveying and a soil sampling method for land surveying applied to the sampling device. The sampling device is provided with a depth sensor for collecting the depth of the sampling device penetrating into the soil and a pressure sensor for collecting the resistance generated by the soil to the sampling device on the sampling mechanism. The controller samples and connects the depth sensor and the pressure sensor to obtain the depth value and resistance value of the current sampling device penetrating into the soil at each sampling moment, and analyzes the depth value and resistance value to determine the sampling interference degree value and the soil resistance coefficient. The sampling interference degree The value reflects the degree of resistance interference encountered by the mobile mechanism in the sampling device during its deep penetration into the soil. The soil resistance coefficient reflects the resistance of the soil to the mobile mechanism as the depth of penetration into the soil changes. Finally, the response adjustment coefficient is determined by combining the sampling interference degree value and the soil resistance coefficient to distinguish whether the greater degree of resistance interference encountered by the mobile mechanism in the sampling device during its deep penetration into the soil is caused by soil resistance or by the untimely response of the driving mechanism itself. The response adjustment coefficient is used to correct the control parameters of the control driving mechanism to avoid the situation where the mobile mechanism is subjected to a greater degree of resistance interference due to the untimely response of the driving mechanism, so as to ensure the stable output of the driving mechanism, thereby improving the accuracy of soil sampling and ensuring the service life of the sampling device.

[0053] A soil sampling device for land surveying and mapping and a soil sampling method for land surveying and mapping applied to the sampling device will be described in detail below in conjunction with the accompanying drawings.

[0054] Figure 1FIG. 1 shows a schematic diagram of the overall structural framework of a soil sampling device for land surveying and mapping provided by an embodiment of the present invention. Figure 1 As shown, the sampling device as a whole is composed of a sampling device body and a sensing device. The sampling device body is composed of a fixed support device and a sampling device. The sensing device is composed of a depth sensor and a pressure sensor.

[0055] Among them, Figure 2 As shown, the fixed support device is composed of a square base support plate 19, a base rotating screw 8, a base driving device 4, and a sampling mechanism support stand 3. The base rotating screw 8 is arranged at the four corner positions of the square base support plate 19, and the base driving device 4 is arranged near the base rotating screw 8. The base rotating screw 8 can be stably inserted into the soil under the drive of the corresponding base driving device 4. The length of the base rotating screw 8 can be set as long as possible to better fix the entire sampling device and ensure the stability of the entire soil sampling device during the sampling process. The sampling mechanism support stand 3 is arranged on the upper part of the base support plate 19 for supporting the sampling device. The base support plate 19 is provided with a through hole 5 for the sampling tube 7 to pass through.

[0056] like Figure 2As shown, the sampling device is composed of a driving mechanism 1, a movable screw rod (with scale) 2, a soil material collection bin 6, a sampling tube 7, a connecting piece 10, a tunneling mechanism 11 and a controller 12. The movable screw rod 2 and the tunneling mechanism 11 together constitute a mobile mechanism, the soil material collection bin 6 and the sampling tube 7 together constitute a sampling mechanism, and the mobile mechanism is connected to the sampling mechanism. One end of the movable screw rod 2 is fixed through the sampling mechanism support stand 3, and the driving mechanism 1 and the controller 12 are both arranged on the sampling mechanism support stand 3. The driving mechanism 1 drives the movable screw rod 2 connected to the mobile mechanism, and its main function is to provide power to the movable screw rod 2 in the mobile mechanism so that the mobile mechanism extends into the soil. In an embodiment of the present invention, the driving mechanism 1 is a hydraulic drive system. By connecting the movable screw rod 2 to the hydraulic drive system, the hydraulic drive system converts the hydraulic pressure into mechanical motion, thereby controlling the up and down movement of the movable screw rod 2. Of course, in some feasible implementations, the driving mechanism 1 can also be a drive motor. The controller 12 controls the connection drive mechanism 1, and its main purpose is to perform PID control on the drive mechanism 1 to ensure that the drive mechanism 1 has a stable output. The other end of the movable screw 2 is connected to the sampling tube 7 in the sampling mechanism through the connector 10. Since the pressure difference between the inside and the outside may be generated in the process of penetrating into the soil, a vent 9 is provided on the upper surface of the sampling tube 7, and its function is to maintain ventilation in the process of penetrating into the ground. The soil material collection bin 6 is arranged inside the sampling tube 7, and an opening is specially provided on one side of the sampling tube 7, and the soil material collection bin 6 can extend outward from the opening of the sampling tube 7. The excavation mechanism 11 in the moving mechanism is actually a rotary blade, and its purpose is to break the soil. It is arranged at the bottom of the sampling tube 7 and is designed as an integrated structure with the sampling tube 7. The sampling tube 7 can pass through the through hole set in the middle of the base support plate 19, and the sampling tube 7 extends into the soil when the excavation mechanism 11 breaks the soil. When reaching a certain depth, the movable screw rod 2 stops going deeper, and a switch button (not shown in the figure) arranged outside the sampling device is started. Since the sampling tube 7 is provided with a hydraulic device for driving the soil material collection bin 6, as shown in FIG. Figure 3-Figure 5As shown, the soil sampling bin 6 is composed of a soil sampling bin 13, a soil breaking blade 14, an electric push rod 15, a bin door 16, and a crank 17. After the switch button is activated, the soil sampling bin 13 in the soil sampling bin 6 in the sampling tube 7 is driven by the hydraulic equipment, so that the electric push rod 15 is pushed outward, and the electric push rod 15 and the crank 17 work together during the pushing process. The crank 17 opens the bin door 16 set on one side of the soil sampling bin 6 inward, and then the electric push rod 15 pushes the soil sampling bin 13 in the soil sampling bin 6 outward. During the pushing process, the soil breaking blade 14 set in the soil sampling bin 6 separates the soil in the soil sampling bin 13 from the original soil. The separation refers to the process in which the soil breaking blade 14 cuts the soil when pushing outward, and the soil sampling bin 6 can better load the soil into the soil sampling bin 13. At this time, the collected soil is separated from the original soil, and then the switch button is pressed to reset the electric push rod 15, and the obtained soil is stored in the sampling bin 13. Then the driving mechanism 1 will drive the movable screw rod 2 to be retracted to the ground again, thereby completing a soil material taking process.

[0057] Considering that in the process of soil sampling using the sampling device, in order to avoid the destruction of the soil structure caused by the too fast or too slow speed of penetrating the soil, so as to ensure that the sampled soil samples maintain a complete soil layer distribution, and then ensure that the extracted soil samples can truly reflect the actual situation of the soil, and at the same time help to reduce the wear of the sampling device and extend its service life, it is necessary to require the drive mechanism 1 to have a stable output state, so as to ensure that the sampling device can maintain a stable and safe state in the process of penetrating the soil. However, in some special environments, such as high-cold areas, wetlands or saline-alkali land, the adaptability of the sampling device is poor, resulting in the untimely response of the drive device, and the sampling device is prone to jamming. At this time, it is necessary to correct the control parameters of the drive mechanism 1 in the controller 12 of the drive mechanism 1, so as to ensure that the drive device maintains a stable working state. For this reason, a depth sensor 20 is installed on the sampling tube 7 of the sampling mechanism near the soil material bin 7 to collect the depth of the sampling device penetrating the soil, and a pressure sensor 18 is installed on the inner wall of the sampling tube 7 to collect the resistance generated by the soil to the sampling device during the process of the sampling device penetrating the soil. At the same time, the controller 12 is set to sample and connect the depth sensor 20 and the pressure sensor 18 to obtain the depth value and pressure value collected by the depth sensor 20 and the pressure sensor 18, analyze the depth value and the resistance value, and correct the control parameters of the driving mechanism 1 in the controller 12 of the driving mechanism 1 according to the analysis results, so as to realize a soil sampling method for land surveying. It should be understood that the controller 12 can be a separate controller that simultaneously realizes PID control of the driving mechanism 1, analyzes the depth value and the resistance value, and determines the correction process of the control parameters of the driving mechanism 1 in the controller 12 of the driving mechanism 1 according to the analysis results, or it can be a combined controller composed of a controller that realizes PID control of the driving mechanism 1 alone, and a controller that realizes the correction process of the control parameters of the driving mechanism 1 in the controller 12 of the driving mechanism 1 alone. The correction process in the soil sampling method for land surveying will be described in detail in conjunction with the accompanying drawings and specific steps.

[0058] like Figure 6 As shown, in a soil sampling method for land surveying provided by an embodiment of the present invention, the correction process of correcting the control parameters of the driving mechanism 1 in the controller 12 of the driving mechanism 1 includes:

[0059] Step S100: obtaining the depth value and soil resistance value at each sampling moment during the process of the current sampling device penetrating into the soil.

[0060] When using the soil sampling device for land surveying provided above to take soil samples, the preliminary preparations that need to be done during a soil sampling process include: first, it is necessary to determine that the sampling device functions normally, that is, it is necessary to determine that the sensors, batteries, mechanical components and other devices in the sampling device function normally; calibrate the sensors installed in the sampling device to ensure that the measured data is accurate; select a suitable sampling position in the surveying plan to avoid obstacles during the sampling process; place the sampling device at the selected sampling position, and after the staff fixes the position, start the base drive device 4, and the staff can step on the appropriate position of the base support plate 19 to apply a certain external force, so that the base rotating screw 8 can better penetrate the ground under the drive of the base drive device 4. After the penetration into the ground is completed, the sampling device is fixed, and the soil sampling process can be officially started later.

[0061] After the above-mentioned preliminary preparations are completed, the soil sampling process can be officially started. First, the driving device 1 is started. The driving device 1 provides power to the movable screw rod 2 so that the movable screw rod 2 extends into the soil. During this process, the controller 12 performs PID control on the driving mechanism 1 to ensure that the driving mechanism 1 has a stable output, thereby ensuring the smooth progress of the soil sampling process.

[0062] Starting from the time when the sampling device penetrates into the soil, that is, the movable screw rod 2 penetrates into the soil, the depth sensor 20 installed on the sampling tube 7 and the pressure sensor 18 installed on the inner wall of the sampling tube 7 will synchronously collect the depth of the sampling device penetrating into the soil and the pressure generated by the soil on the inner wall of the sampling tube 7 in the sampling device according to the set sampling frequency, so as to obtain the depth value and soil resistance value of each sampling moment before the current moment. Among them, the set sampling frequency can be reasonably set according to the actual situation, and it is not limited here. In the embodiment of the present invention, the value of the set sampling frequency is set to 1 time / second.

[0063] Step S200: Determine the sampling interference degree value according to the distribution of depth value changes between depth values ​​at adjacent sampling moments.

[0064] The depth value change at each sampling moment relative to the depth value at the previous sampling moment is obtained, and the distribution of all depth value changes is analyzed. When the depth value change fluctuates greatly, it means that the depth change of the movable screw rod 2 is more uneven in the process of the sampling device entering the soil, and presents a fluctuating situation. At this time, it means that the degree of interference to the movable screw rod 2 in the process of penetrating into the soil is greater, thereby determining the degree of interference to the sampling at the current moment.

[0065] In the embodiment of the present invention, determining the sampling interference degree value includes:

[0066] Determine the difference between the depth value at each sampling moment and the depth value at the previous sampling moment, and determine the difference as the depth value change;

[0067] Determining a discrete degree index and a depth value change difference index according to the discrete degrees and the maximum distribution difference of all the depth value changes;

[0068] The sampling interference degree value is determined according to the discrete degree index and the depth value change difference index, and the discrete degree index and the depth value change difference index are both positively correlated with the sampling interference degree value.

[0069] For the above steps, for all the depth value changes, the variance of these depth value changes is determined, and the variance is used as the discrete degree index. At the same time, the difference between the maximum and minimum values ​​of these depth value changes, that is, the range, is determined, and the range is used as the depth value change difference index. The discrete degree index and the depth value change difference index are combined to determine the sampling interference degree value. The corresponding calculation formula is:

[0070] ;

[0071] in, Indicates the value of the degree of interference of sampling; Indicates the dispersion index; Indicates the difference index of depth value change; represents the hyperbolic tangent function.

[0072] In the above calculation formula, the product It reflects the uneven degree of depth variation of the movable screw rod 2 of the sampling device penetrating into the soil during the current sampling process. The higher the uneven degree of depth variation, the greater the fluctuation of the depth variation, and the greater the resistance degree, that is, the interference degree, encountered by the movable screw rod 2 in the process of penetrating into the soil.

[0073] During the sampling process of the sampling device, the response speed of the driving mechanism 1 in the sampling device needs to be timely and able to maintain a stable output. It is normal that soil resistance will hinder the penetration speed of the sampling device to a certain extent. If the penetration pressure is increased rashly, it is likely to cause damage to the soil structure or damage to mechanical equipment; but if the soil resistance is small, it means that the actual interference degree is caused by the untimely response of the driving mechanism 1. At this time, in order to ensure the sampling efficiency of the soil sampling device, the response speed of the driving mechanism 1 should be increased.

[0074] Based on this, when the sampling interference degree value is large, it is necessary to further analyze whether the large sampling interference degree value is caused by the soil resistance encountered by the sampling device when it penetrates into the soil, or by the untimely response of the driving mechanism 1.

[0075] Step S300: determining the soil resistance coefficient according to the difference between the soil resistance values ​​at different sampling moments.

[0076] In the process of soil sampling by the sampling device, different types of soil may exist at different depths, which may lead to different soil resistances at different levels. Different levels of soil resistance will cause the movable screw 2 to be disturbed more when the sampling device goes deep into the soil. Therefore, based on the pressure sensor 18 on the inner wall of the sampling tube 7, the resistance (i.e., pressure) generated by the external soil on the wall of the sampling tube 7 is obtained, and the soil resistance coefficient is determined according to the resistance difference at different depths. When the resistance difference at different depths is large, that is, the value of the soil resistance coefficient is large, it reflects that the resistance generated by the external soil on the wall of the sampling tube 7 changes with the change of depth, that is, the resistance coefficient of the soil to the sampling device is large, indicating that the value of the degree of interference of the sampling is large at this time, which should be more caused by the soil resistance.

[0077] In an embodiment of the present invention, determining the soil resistance coefficient includes:

[0078] Determine the absolute value of the difference between the soil resistance values ​​at any two different sampling moments, determine the average value of all the absolute values ​​of the difference, and obtain the average soil resistance value difference;

[0079] The average soil resistance value difference is normalized to obtain the soil resistance coefficient.

[0080] For the above steps, the soil resistance values ​​at any two different sampling times are taken as a soil resistance value pair, the absolute value of the difference between the two soil resistance values ​​in each soil resistance value pair is calculated, and the absolute value of the difference corresponding to all soil resistance value pairs is averaged to obtain the average soil resistance value difference. Based on the average soil resistance value difference, the soil resistance coefficient is determined, and the corresponding calculation formula is:

[0081] ;

[0082] in, represents soil resistance coefficient; Indicates the two soil resistance values ​​in the oth soil resistance value pair and The corresponding absolute value of the difference, i and j represent the labels of the two soil resistance values ​​in the oth soil resistance value pair, n represents the total number of soil resistance value pairs; norm represents the normalization function.

[0083] In the above calculation formula, It indicates the change in resistance to the tube wall during the current penetration of the sampling tube 7 into the soil. The larger the value, the greater the change in resistance to the tube wall as the depth changes. At this time, the larger the value of the soil resistance coefficient, the greater the value of the sampling interference degree, which is more likely to be caused by soil resistance.

[0084] Step S400: determining a response adjustment coefficient according to the sampling interference degree value and the soil resistance coefficient.

[0085] Based on the above analysis, the response adjustment coefficient of the driving mechanism 1 is obtained according to the actual interference degree of the movable screw 2 of the sampling device during the current sampling process, that is, the sampling interference degree value and the soil resistance coefficient during the sampling process, and the response adjustment coefficient is used to adjust the proportional gain in the PID control adopted by the controller 12 when controlling the driving mechanism 1. Make corrections.

[0086] In an embodiment of the present invention, determining a response adjustment coefficient includes:

[0087] Performing negative correlation normalization processing on the soil resistance coefficient to obtain a negative correlation normalization processing result;

[0088] The product of the negative correlation normalization processing result and the sampling interference degree value is determined as the response adjustment coefficient.

[0089] According to the above steps, the soil resistance coefficient is negatively correlated and normalized to correct the logic, and the response adjustment coefficient is determined based on the negative correlation normalization result and the sampling interference degree value. The corresponding calculation formula is:

[0090] ;

[0091] in, represents the response adjustment coefficient; Indicates the value of the degree of interference of sampling; represents soil resistance coefficient; Represents a natural constant.

[0092] In the above calculation formula, the soil resistance coefficient F is negatively normalized by using an exponential function with the natural constant e as the base, and is used as a penalty term to verify the actual degree of interference to the movable screw 2 of the sampling device. When the value of the soil resistance coefficient F is small, the product The value of will become larger, that is, the value of the response adjustment coefficient will be larger, and the proportional gain in the PID control adopted by the controller 12 when controlling the driving mechanism 1 will be adjusted later. Make a larger correction.

[0093] Step S500: Correcting the control parameters of the controller controlling the driving mechanism according to the response adjustment coefficient.

[0094] Based on the control adjustment coefficient determined above, the proportional gain in the PID control used by the controller 12 in the sampling device to control the driving mechanism 1 is To make a correction:

[0095] ;

[0096] in, represents the corrected proportional gain in the PID control used when the controller 12 controls the driving mechanism 1 in the sampling device, that is, the corrected proportional gain in the PID control used in the control process of the driving mechanism 1 in the sampling device; represents the proportional gain before correction in the PID control used when the controller 12 controls the driving mechanism 1 in the sampling device; Represents the response adjustment coefficient.

[0097] In the above calculation formula, the original proportional gain in the PID control used by the controller 12 in the sampling device to control the driving mechanism 1 is adjusted by using the response adjustment coefficient. Perform correction, that is, calculate the sum of the response adjustment coefficient and the value 1 , and add the values Compared with the original proportional gain in PID control method Multiply them to get the corrected proportional gain When the response of the driving mechanism 1 is not timely, a larger proportional gain can be obtained through correction, so as to more accurately regulate the output of the driving device 1.

[0098] The corrected proportional gain in the PID control used by the controller 12 to control the driving mechanism 1 in the sampling device corresponding to each moment in the soil sampling process is determined by the above method. At each moment during the soil sampling process, the controller 12 follows the corrected proportional gain The driving device 1 is PID-controlled to more accurately regulate the output of the driving device 1 and further accurately regulate the moving speed of the movable lead screw 2 of the sampling device.

[0099] It should be understood that the soil sampling method for land surveying provided above is not only applicable to the above Figure 2-Figure 5The specific sampling device of the sampling device body given in the specification is also applicable to other sampling devices including the same type of sampling device body. The sampling device body of this type of sampling device is composed of a moving mechanism connected to a sampling mechanism, a driving mechanism for driving the moving mechanism to move, and a controller for controlling the driving mechanism, and the controller controls the driving mechanism through control methods such as PID control, PI control or PD control.

[0100] Based on the same inventive concept, the embodiment of the present invention also provides a soil sampling system for land surveying and mapping, such as Figure 7 As shown, the control system includes: a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and running on the processor 702, wherein when the processor 702 executes the computer program 703, the system can execute the steps of the soil sampling method for land surveying and mapping introduced above.

[0101] The embodiment of the present invention can divide the system into functional modules according to the above-mentioned soil sampling method embodiment for land surveying. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0102] Based on the same inventive concept, an embodiment of the present invention further provides a computer program product, which includes: computer program code, when the computer program code runs on a computer, the computer executes the steps of the soil sampling method for land surveying and mapping introduced above.

[0103] Based on the same inventive concept, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the steps of the soil sampling method for land surveying and mapping introduced above.

[0104] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A soil sampling method for land surveying and mapping, characterized in that: The soil sampling method is applied to a sampling device, which includes a sampling device body, the sampling device body includes a moving mechanism connected to a sampling mechanism, a driving mechanism for driving the moving mechanism to move, and a controller for controlling the driving mechanism. The sampling mechanism is provided with a depth sensor for collecting the depth of the sampling device penetrating into the soil, and a pressure sensor for collecting the resistance generated by the soil to the sampling device. The soil sampling method includes: Obtain the depth value and resistance value of the current sampling device at each sampling moment during its penetration into the soil; Determine the sampling interference degree value according to the distribution of depth value changes between depth values ​​at adjacent sampling moments; According to the difference between the soil resistance values ​​at different sampling times, the soil resistance coefficient is determined; Determining a response adjustment coefficient according to the sampling interference degree value and the soil resistance coefficient; Correcting the control parameters of the controller controlling the driving mechanism according to the response adjustment coefficient; Determine the value of the sampling interference level, including: Determine the difference between the depth value at each sampling moment and the depth value at the previous sampling moment, and determine the difference as the depth value change; Determining a discrete degree index and a depth value change difference index according to the discrete degrees and the maximum distribution difference of all the depth value changes; Determine the sampling interference degree value according to the discrete degree index and the depth value change difference index, wherein the discrete degree index and the depth value change difference index are both positively correlated with the sampling interference degree value; Determine the soil resistance coefficient, including: Determine the absolute value of the difference between the soil resistance values ​​at any two different sampling moments, determine the average value of all the absolute values ​​of the difference, and obtain the average soil resistance value difference; Normalizing the difference in the average soil resistance values ​​to obtain a soil resistance coefficient; Determine the response adjustment factor, including: Performing negative correlation normalization processing on the soil resistance coefficient to obtain a negative correlation normalization processing result; The product of the negative correlation normalization processing result and the sampling interference degree value is determined as the response adjustment coefficient.

2. A soil sampling method for land surveying and mapping according to claim 1, characterized in that: Determine the dispersion index, including: The variance of all the depth value changes is determined, and the variance is determined as a dispersion index.

3. The soil sampling method for land surveying and mapping according to claim 1, characterized in that: Determine the depth value change difference indicator, including: The range of all the depth value changes is determined, and the range is determined as a depth value change difference index.

4. The soil sampling method for land surveying and mapping according to claim 1, characterized in that: Determine the value of the sampling interference level, including: The product of the discrete degree index and the depth value variation difference index is determined, and a normalized value of the product is determined as a sampling interference degree value.

5. The soil sampling method for land surveying and mapping according to claim 1, characterized in that: The controller controls the driving mechanism through the PID control method, and corrects the control parameters of the driving mechanism controlled by the controller, including: Calculate the sum of the response adjustment coefficient and the value 1; A multiplication result of the added value and a proportional gain in the PID control method is calculated, and the multiplication result is determined as a corrected proportional gain in the PID control method.

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